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Delta Tau Universal PMAC Lite, Hardware Reference Manual

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Universal PMAC Lite

 

Table of Contents 

i

 

Table of Contents 

INTRODUCTION .......................................................................................................................................................1

 

Overview ...................................................................................................................................................................1

 

Board Configuration..................................................................................................................................................1

 

Base Version .........................................................................................................................................................1

 

Option 2: Dual Ported RAM .................................................................................................................................2

 

Option 5: CPU and Memory Configurations........................................................................................................2

 

Option 6: Extended Servo Algorithm ....................................................................................................................2

 

Option 7: Plate Mounting .....................................................................................................................................2

 

Option 8: High-Accuracy Clock Crystal...............................................................................................................2

 

Option 9: RS-422 Interface (Obsolete) .................................................................................................................2

 

Option 10: Firmware Version Specification .........................................................................................................2

 

Option 14: Replacement of Flag Opto-Isolators with Socketed Shunts ................................................................2

 

Option 15: V-to-F Converter for Analog Input.....................................................................................................3

 

Option 16: Battery-Backed Parameter Memory ...................................................................................................3

 

PMAC Connectors and Indicators.............................................................................................................................3

 

J1 - Display Port Outputs (JDISP Port) ...............................................................................................................3

 

J2 - Control-Panel Port I/O (JPAN Port) .............................................................................................................3

 

J3 - Thumbwheel Multiplexer Port I/O (JTHW Port) ...........................................................................................3

 

J4 – RS-232 Serial Port Connection (JRS232 Port) .............................................................................................3

 

J4A – RS-422 Serial Port Connection (JRS422 Port)...........................................................................................3

 

J5 - General-Purpose Digital Inputs and Outputs (JOPTO Port) ........................................................................4

 

J6 - Auxiliary I/O Port Connector (JXIO Port) ....................................................................................................4

 

J7 - A/D Port Connector (JS1 Port)......................................................................................................................4

 

J8 - Position-Compare Connector (JEQU Port) ..................................................................................................4

 

J11 - Machine Connector (JMACH Connector) ...................................................................................................4

 

TB1 – Power Supply Terminal Block....................................................................................................................4

 

LED Indicators .....................................................................................................................................................4

 

Fuse ......................................................................................................................................................................4

 

PMAC System Configuration Incompatibilities........................................................................................................4

 

JEXP Expansion Port Accessories........................................................................................................................4

 

JTHW Thumbwheel Multiplexer Port Accessories................................................................................................5

 

JPAN Control Panel Port Accessories..................................................................................................................5

 

JDISP Display Port Accessories...........................................................................................................................5

 

JSx Port Accessories .............................................................................................................................................5

 

Resistor Pack Configuration......................................................................................................................................5

 

Termination Resistors ...........................................................................................................................................5

 

Universal PMAC Lite Jumpers and Connectors Layout P/N 602402 .......................................................................6

 

Universal PMAC Lite Dimensions Part Number 602402 .........................................................................................7

 

JUMPERS SETUP SUMMARY ................................................................................................................................9

 

Power-Supply Configuration Jumpers ......................................................................................................................9

 

Clock Configuration Jumpers..................................................................................................................................10

 

Encoder Configuration Jumpers ..............................................................................................................................10

 

Board Reset/Save Jumpers ......................................................................................................................................11

 

Communication Jumpers.........................................................................................................................................12

 

From Jumper Configuration to Address .............................................................................................................12

 

From Address to Jumper Configuration .............................................................................................................13

 

I/O Configuration Jumpers......................................................................................................................................14

 

Reserved Configuration Jumpers ............................................................................................................................14

 

PMAC-LITE E-POINT DESCRIPTIONS ..............................................................................................................17

 

E1 - E2: Machine Output Supply Voltage Configure..............................................................................................17

 

E3 - E6:  Servo Clock Frequency Control...............................................................................................................18

 

E7:  Machine Input Source/Sink Control ................................................................................................................19

 

Summary of Contents for Universal PMAC Lite

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...rsal PMAC Lite 3 Programmable Multi Axis Controller 4 3Ax 602402 UHxx 5 October 2001 Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 209...

Page 3: ...amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials...

Page 4: ...ector JXIO Port 4 J7 A D Port Connector JS1 Port 4 J8 Position Compare Connector JEQU Port 4 J11 Machine Connector JMACH Connector 4 TB1 Power Supply Terminal Block 4 LED Indicators 4 Fuse 4 PMAC Syst...

Page 5: ...rupt Signal Select 29 E87 E88 Host Supplied Analog Power Source Enable 29 E89 Amplifier Supplied Switch Pull Up Enable 29 E90 Host Supplied Switch Pull Up Enable 30 E91 E92 Bus Base Address Select Hig...

Page 6: ...nector 46 P1 PC Bus 46 P2 AT Bus 46 PMAC LITE CONNECTOR PINOUTS 47 J1 JDISP Display Port Connector 47 J2 JPAN Control Panel Port Connector 48 J3 JTHW Multiplexer Port Connector 49 J4 JRS232 Serial Por...

Page 7: ...Universal PMAC Lite Table of Contents iv...

Page 8: ...ot board with 20 MHz DSP56002 128k x 24 SRAM active memory Battery backup circuitry for SRAM PMAC Lite 128k x 8 EPROM for firmware PMAC Lite 512k x 8 flash memory for SRAM backup and firmware PMAC1 5...

Page 9: ...n the U5 flash memory EPROM IC If loaded at the factory this IC will have a 1 suffix on the labeled and reported version number e g V1 16D1 Option 7 Plate Mounting If the PMAC Lite is used as an ISA b...

Page 10: ...l displays or of the ACC 12C vacuum fluorescent display Both text and variable values may be shown on these displays through the use of the DISPLAY command executing in either motion or PLC programs J...

Page 11: ...nnector which is labeled J11 This connector contains the pins for four channels of machine I O analog outputs incremental encoder inputs and associated input and output flags plus power supply connect...

Page 12: ...es eight consecutive addresses starting with an address divisible by 8 There are no known cases of anyone using all of these address spaces JPAN Control Panel Port Accessories The Acc 16D control pane...

Page 13: ...29 F3 E38 F3 E48 D1 E62 D3 E73 E2 E83 G3 E93 C3 E109 B1 E4 F3 E17C G1 E30 F3 E39 D3 E49 D1 E63 D3 E74 E2 E84 G3 E94 C3 E110 C2 E5 F3 E17D G1 E31 F3 E40 C2 E50 C1 E65 D3 E75 E2 E85 G3 E98 F3 D1 B1 E6 F...

Page 14: ...Universal PMAC Lite Introduction 7 Universal PMAC Lite Dimensions Part Number 602402...

Page 15: ...Universal PMAC Lite 8 Introduction...

Page 16: ...ies the digital GND reference signal to the analog AGND reference signal defeating the isolation between the circuits Putting E85 ON ties the digital 12V supply line to the analog A 15V supply line Pu...

Page 17: ...s on the J4 serial port if these signals are not provide in this configuration the watchdog timer will immediately trip Encoder Configuration Jumpers E24 E27 Encoder Complementary Line Control These j...

Page 18: ...sabled This jumper is for testing purposes only E106 Power Up Reset Load Source If E106 is installed when the PMAC Lite executes its reset cycle PMAC enters a special re initialization mode that permi...

Page 19: ...electing the appropriate base address Together they form a binary number that specifies the 16 consecutive addresses on the bus where the card can be found The jumpers form the base address in the fol...

Page 20: ...digit of E is binary 1110 This sets E68 OFF E69 OFF E70 OFF and E71 ON Example 2 To set up the card to be at base address 528 decimal on the PC expansion bus 1 528 decimal is equal to 210 hexadecimal...

Page 21: ...Generally this setting is not recommended E28 Following Error Watchdog Timer Signal Control Jump pin 1 to 2 to allow warning following error Ix12 for the selected coordinate system to control FEFCO o...

Page 22: ...R7 IR5 IR4 IR3 IR2 IR1 IR0 E76 E77 E78 E79 E80 E81 E82 E83 E84 E86 PC AT 8259 PIC PC 8259 PIC 470 ohm PC AT only ALL PCs PMAC PC INT PMAC PC INTERRUPT STRUCTURE 80x86 CPU HREQ Read Ready Write Ready P...

Page 23: ...Universal PMAC Lite Jumpers Setup Summary 16...

Page 24: ...n 11 of U26 should be ULN2803A for sink output configuration JOPTO Machine outputs M01 M08 Jump pin 2 to 3 to apply GND to pin 11 of U26 should be UDN2981A for source output configuration 1 2 Jumper i...

Page 25: ...F OFF OFF N Divided by 15 OFF OFF OFF OFF N Divided by 16 Notes The setting of I variable I10 should be adjusted to match the servo interrupt cycle time set by E98 E29 E33 and E3 E6 I10 holds the leng...

Page 26: ...ection Control The E9 E10 E13 and E14 jumpers control whether the RS 232 serial port will be in DCE or DTE format The default configuration permits straight across connection to a PC DB 9 serial port...

Page 27: ...for low true AENA4 No jumper installed Note Low true enable is the fail safe option because of the sinking open collector ULN2803A output driver IC E22 E23 Control Panel Handwheel Enable E Point and P...

Page 28: ...n Jump pin 1 to 2 E24 ENC 4 E25 ENC 3 E26 ENC 2 E27 ENC 1 E26 H2 For single ended encoders Jump pin 1 to 2 For differential line driver encoders Do not care E27 H2 For complementary open collector enc...

Page 29: ...ings of E29 E33 are not relevant E34 E38 Encoder Sampling Clock Frequency Control Jumpers E34 E38 control the encoder sampling clock SCLK used by the gate array ICs No more than one of these six jumpe...

Page 30: ...ut ON OFF ON ON 2 Input OFF OFF ON ON 3 Input ON ON OFF ON 4 Input OFF ON OFF ON 5 Input ON OFF OFF ON 6 Input OFF OFF OFF ON 7 Input ON ON ON OFF 8 Input OFF ON ON OFF 9 Input ON OFF ON OFF A Input O...

Page 31: ...OFF 19200 38400 57600 76800 ON OFF OFF OFF 25600 51200 76800 102400 OFF OFF OFF OFF 38400 76800 115200 153600 Non standard baud rate Note These jumpers are only read at power up reset to set the baud...

Page 32: ...enable save to EAROM or flash memory Remove jumper to disable save to EAROM or flash memory Jumper installed E51 Normal Re Initializing Power Up E Point and Physical Layout Location Description Defau...

Page 33: ...stalled E58 C3 Jump pin 1 to 2 to allow MI2 to interrupt host PC at PMAC interrupt level IR6 No jumper installed E59 C3 Jump pin 1 to 2 to allow Axis Expansion Int 0 to interrupt host PC at PMAC inter...

Page 34: ...ation Description Default E72 E2 Jump pin 1 to 2 to allow V to F converter FOUT derived from Wiper input on J2 to connect to CHA4 No jumper installed E73 E2 Jump pin 1 to 2 to allow V to F converter s...

Page 35: ...10 No jumper installed E81 F3 Jump pin 1 to 2 to allow PMAC Interrupt to host PC on IRQ3 No jumper installed E82 F3 Jump pin 1 to 2 to allow PMAC Interrupt to host PC on IRQ4 No jumper installed E83 G...

Page 36: ...g Note that if E87 is changed E85 and E88 must also be changed Also see E90 No jumper E88 H3 Jump pin 1 to pin 2 to allow A 14V to come from PC bus ties amplifier and PMAC Lite power supply together D...

Page 37: ...th E66 E71 to set the base address of PMAC Lite on the PC bus See PMAC Lite Jumpers Summary section for details on how to set these jumpers E93 E94 Reset from Bus by Software Enable E Point and Physic...

Page 38: ...umper installed E101 E102 Output Flag Supply Voltage Configure E Point and Physical Layout Location Description Default E101 H1 CAUTION The jumper setting must match the type of driver IC or damage to...

Page 39: ...serial or bus port on power up reset No jumper installed E107 E108 Serial Port Select E Point and Physical Layout Location Description Default E107 F1 Jump pin 1 to 2 to select RS 232 port on J4 for s...

Page 40: ...guration when PMAC is not plugged in a computer bus it will need an external five volt supply to power its digital circuits The 5V line from the supply should be connected to pin 1 or 2 of the JMACH c...

Page 41: ...negative end of travel and LIMn should be placed at the positive end of travel Types of Overtravel Limits PMAC expects a closed to ground connection for the limits to not be considered on fault This a...

Page 42: ...ect DAC1 pin 43 to the command input on the amplifier Connect the amplifier s command signal return line to PMAC s AGND line pin 58 In this setup leave the DAC1 pin floating do not ground it For a dif...

Page 43: ...agnitude amplifier or voltage to frequency converter use this pin to enable and disable the amplifier wired to the enable line AENA1 DIR1 is pin 47 The polarity of the signal is controlled by jumper E...

Page 44: ...le Ix25 I125 for motor 1 and the return signal is analog ground AGND FAULT1 is pin 49 With the default setup this signal must actively be pulled low for a fault condition In this setup if nothing is w...

Page 45: ...tate and they must be pulled low for the ON state If E7 connects pins 2 and 3 the inputs are biased to ground for the OFF state and must be pulled high for the ON state In either case a high voltage i...

Page 46: ...ort in any combination The Acc 18 Thumbwheel Multiplexer board provides up to 16 BCD thumbwheel digits or 64 discrete TTL inputs per board The TWD and TWB forms of M variables are used for this board...

Page 47: ...lowing diagrams DB 9 Female IDC 10 Do not connect wire 10 1 1 DB 25 Female IDC 26 Do not connect wire 26 1 1 PMAC IDC 10 PC DB 9 1 1 2 6 DSR 3 2 RXD 4 7 RTS 5 3 TXD 6 8 CTS 7 4 DTR 8 9 PMAC IDC 26 PC...

Page 48: ...3 54 39 40 LIMn 55 56 41 42 HMFLn 51 52 37 38 LIMn 58 58 58 58 AGND 1 2 1 2 5V 3 4 3 4 GND 17 18 5 6 CHCn 19 20 7 8 CHCn 21 22 9 10 CHBn 23 24 11 12 CHBn 25 26 13 14 CHAn 27 28 15 16 CHAn 43 44 29 30...

Page 49: ...Universal PMAC Lite Machine Connections 42...

Page 50: ...F 760 767 Asynchronous Common COM2 300 31F 768 799 Prototype Card usually open 360 36F 864 879 PC Network 378 37F 888 895 Parallel Printer LPT1 380 38F 896 911 SDLC Communications 2 390 393 912 915 Cl...

Page 51: ...Universal PMAC Lite Host PC AT I O Address Map 44...

Page 52: ...female flat cable connector Delta Tau P N 014 R00F26 0K0 T B Ansley P N 609 2641 2 171 26 T B Ansley standard flat cable stranded 26 wire 3 Phoenix varioface module type FLKM 26 male pins P N 22 81 0...

Page 53: ...LKM 60 male pins P N 22 81 09 2 Note Normally J11 is used with accessory 8P or 8D with Option P which provides complete terminal strip fan out of all connections P1 PC Bus One 62 pin card edge connect...

Page 54: ...r Write TTL signal out 7 DB1 Output Display Data1 8 DB0 Output Display Data0 9 DB3 Output Display Data3 10 DB2 Output Display Data2 11 DB5 Output Display Data5 12 DB4 Output Display Data4 13 DB7 Outpu...

Page 55: ...15 INIT Input Reset PMAC Low is Reset Equivalent to 16 HWCA Input Handwheel Encoder A Channel 5V TTL SQ pulse Must use E23 CHA2 17 IPLD Output In Position Ind C S Low lights LED 18 BRLD Output Buffer...

Page 56: ...output 15 DAT6 Input Data 6 Input Data input from multiplexed accessory 16 SEL6 Output Select 6 Output Multiplexer select output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SE...

Page 57: ...Output Send Data Host receive data 6 RTS Output Request to Send PMAC ready bit 7 DSR Bidirectional Data Set Ready Tied to DTR 8 SERVO Output Servo Clock 9 GND Common PMAC Common 10 5V Output 5Vdc Sup...

Page 58: ...CK Bidirectional Special Clock Diff I O high True 21 SERVO Bidirectional Servo Clock Diff I O low True 22 SERVO Bidirectional Servo Clock Diff I O high True 23 PHASE Bidirectional Phase Clock Diff I O...

Page 59: ...g 18 GND Common PMAC Common 19 MO7 Output Machine Output 7 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 22 GND Common PMAC Common 23 MO5 Output Machine Output 5 24 GND Common PMAC Common 2...

Page 60: ...Function Description Notes 1 DCLK Output D to A A to D Clock DAC and ADC clock for Channel 1 2 3 4 2 BDATA1 Output D to A Data DAC data for Channel 1 2 3 4 3 ASEL0 Output Chan Select bit 0 Select for...

Page 61: ...or equivalent 5V CMOS driver J11 JMACH1 Machine Port Connector 60 Pin Header Front View Pin Symbol Function Description Notes 1 5V Output 5V Power For encoders 1 2 5V Output 5V Power For encoders 1 3...

Page 62: ...lable on your version of PMAC it is preferable to bring the 5V power in through the terminal block Note 2 Referenced to digital common GND Maximum of 12V permitted between this signal and its compleme...

Page 63: ...Digital GND This terminal block can be used to provide the input for the power supply for the circuits on the PMAC board when it is not in a bus configuration When the PMAC Lite is in a bus configurat...

Page 64: ...ater than the value in this last digit Alternately an M variable such as M99 X FFFD 0 4 can be defined and then read from or write to these bits with the M variable E48 X FFFD 0 3 True Multiplier DSP...

Page 65: ...echniques by pointing a second M variable to the definition of a first M variable that points into this memory area For example with the M variable definitions M0 L A000 1st long word of Opt 16 RAM fl...

Page 66: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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